Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture

TL;DR

Surena-V advances humanoid robotics by integrating a high-DoF upper and lower body with tactile sensing in the hands and a cohesive optimization-based control stack. The approach merges ZMP modification, step planning, and hand–CoM coordination to maintain balance while reacting to contact disturbances, complemented by foot-compliance strategies for varied terrains. Validation includes a needle-through-soft-material task to demonstrate tactile sensing fidelity and a bar-moving collaboration to illustrate real-time cooperative behavior and improved agility over traditional balance schemes. The work presents a scalable framework for safe, interactive humanoid collaboration in dynamic environments.

Abstract

This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile sensors in its hands, to facilitate precise environmental interaction. This is demonstrated through an experiment showcasing the robot's ability to control a medical needle's movement through soft material. Surena-V's operational framework emphasizes stability and collaboration, employing various optimization-based control strategies such as Zero Moment Point (ZMP) modification through upper body movement and stepping. Notably, the robot's interaction with the environment is improved by detecting and interpreting external forces at their point of effect, allowing for more agile responses compared to methods that control overall balance based on external forces. The efficacy of this architecture is substantiated through an experiment illustrating the robot's collaboration with a human in moving a bar. This work contributes to the field of humanoid robotics by presenting a comprehensive system design and control architecture focused on human-robot collaboration and environmental adaptability.

Figures (6)

• Figure 1: Surena-V Humanoid Robot Specification
• Figure 2: Comprehensive View of the Robot with Integrated Parts and Mechanisms
• Figure 3: Operational Architecture of the Robot
• Figure 4: Pressure sensor sensitivity evaluation during pushing a medical needle through a soft material. The robot immediately responds to pressure changes and stops finger movement.
• Figure 5: Sequential phases of the collaborative experiment where the humanoid robot interacts with a human participant to manipulate a bar. A: adjusting its arm position, B: Adjusting it's CoM and C: Stepping to right